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Boyd, Stephen and Xiao, Lin (2005) Least-Squares Covariance Matrix Adjustment. SIAM Journal on Matrix Analysis and Applications, 27 (2). pp. 532-546. ISSN 0895-4798. doi:10.1137/040609902. https://resolver.caltech.edu/CaltechAUTHORS:BOYsiamjmaa05

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